For #21 - Started working on reading gps output and writting kml files. Currently experiencing some catkin errors that are preventing compilation.
For issue #21, it now compiles (error was .c instead .cpp file name)
For #21, theoretically complete logging output for KML. But it hasn't been tested
Cleaning up
For issue #21, finished testing. Made fixes to file IO and usage of C++ classes
Merge pull request #22 from bluesat/gpsLogging

Gps logging